uint32 detect_sensor_current
uint32 detect_sensor_history

# track state (UNKNOWN:0 NEW_CREATED:1 COASTED:2 MERGE:3 TRACKED:4)
int8 object_track_state

# 时间戳，单位s
float64 object_time_stamp

# Obstacle type (UNKNOWN:0 PEDESTRIAN:1 BICYCLE:2 VEHICLE:3 MOTORCYCLE:4 TRICYCLE:5 CONE:6)
int8 object_type

# Obstacle moving state (UNKNOWN:0 MOVING_EGODIRECTION_DRIVING:1 MOVING_EGODIRECTION_STOPPED:2
#                        MOVING_EGODIRECTION_REVERSING:3 MOVING_ONCOMING:4 MOVING_CROSSING:5 STATIONARY:6)
int8 moving_state

# Obstacle motion intent (UNKNOWN:0 INVLID:1 PASSING:2 PASSING_IN:3 PASSING_OUT:4 CLOSE_CUT_IN:5 MOVING_IN:6
#                        MOVING_OUT:7 LEFT_TURN_AP:8 RIGHT_TRUN_AP:9 PRECEEDING:10 MOVING_SLOW:11)
int8 motion_intent

# 目标被检测到的时间戳，单位s
float64 detected_time

# 目标持续检测时间
int16 object_age

# Obstacle id
int32 object_id

# camera id
int32 camera_id

# 障碍物在当前坐标系（车辆后轴中心点为原点）下，3D障碍物边框信息，单位m
Rect3D object_rect3d

# 障碍物在世界坐标系下，3D障碍物边框信息，单位m
Rect3D object_rect3d_world

# 目标类别置信度（0-1）
float32 object_type_confidence

# 目标存在概率（0-1）
float32 object_obj_confidence

# vehicle light type (UNKNOWN:0 BRAKE:1 STRAIGHT:2 TURNLEFT:3 TURNRIGHT:4 BRAKE_TURNLEFT:5
#                     BRAKE_TURNRIGHT:6 BRAKE_STRAIGHT:7 DOUBLE_FLASH:8 BRAKE_DOUBAL_FLASH:9)
int8 vehicle_light_type

# 目标所属车道ID（-2,-1,0,1,2,127）(右右，右，本车道，左，左左,不存在)
int8 lane_id

# 障碍物TTC时间
float32 obj_ttc

# 障碍物的切入状态
int8 cutin_flag

# 障碍物最近的点到主机车道线中心的横向相对距离。正表示车辆现在不在主机车道，负表示车辆已进入主机车道
float32 cutin_distance

# 是否是路径上最近的车辆（针对车辆类别）
int8 is_cipv

# 是否是最关键的目标，通过融合主机通道路径和预测路径计算（针对行人）
int8 is_mcp

# 相对目标速度m/s
geometry_msgs/Vector3 object_velocity

# 相对目标加速度m/s2
geometry_msgs/Vector3 object_acc

# 在世界坐标系下目标速度m/s
geometry_msgs/Vector3 object_velocity_world

# 在世界坐标系下目标加速度m/s2
geometry_msgs/Vector3 object_acc_world

# 相对目标速度标准差
geometry_msgs/Vector3 velocity_std_dev

# 相对目标加速度标准差
geometry_msgs/Vector3 acc_std_dev

# 预测轨迹条数（区间[1,10]）
int32 traj_num

# 预测轨迹路径信息
PredictedTrajectory[] predicted_trajs
